Rotating 2D LiDAR LDS02RR (Xiaomi), 360°, 0.15–6 m

Product detailed description

The LDS02RR 2D LiDAR module is a rotating laser rangefinder used in Xiaomi Mijia robotic vacuums (SDJQR01RR/02RR/03RR, Mijia 1S). It scans distances in a 360° range based on laser triangulation and, thanks to its low price, is a popular choice for hobby robotics – spatial mapping, SLAM, autonomous navigation (ROS/ROS2), or obstacle detection. The sensor measures distances from 0.15 to 6 metres, rotates at a speed of 5 revolutions per second, and sends data via a UART serial link (115200 baud, protocol based on Neato lidars). Community support is excellent – there are ready-made libraries for Arduino/ESP32, Raspberry Pi (Python), and ROS2.

Specifications:

• Type: 2D LiDAR, 360° scanning
• Measurement principle: laser triangulation
• Measuring range: 0.15 – 6 m
• Rotation frequency: 5 Hz (300 rpm)
• Sampling frequency: 1.8 kHz (approx. 360 samples per revolution, resolution ~1°)
• Communication: UART, 115200 baud (Neato-based protocol)
• Power supply: 5 V, motor without integrated driver (requires external excitation, e.g. PWM via transistor)
• Laser safety: IEC 60825-1:2014, Class 1 (no harmful radiation)
• Weight: approx. 206 g
• Compatibility: ESP32, Arduino, Raspberry Pi, Raspberry Pi Pico, ROS/ROS2 (via adapter)
• Recommended adapter:
  • LDS02RR (Xiaomi LiDAR) Adapter – JST GH 1.25 mm to Dupont, PWM motor control

How to connect to ESP32:

The lidar communicates via UART, so you simply need to connect the lidar data output to the ESP32 RX pin. The lidar motor does not have its own driver – it is driven externally by a PWM signal from the microcontroller. The most convenient option is to use the LDS02RR adapter, which routes data, PWM motor control, and power from the JST GH 1.25 mm connector to Dupont pins. For data reading, the Arduino library LDS by Kaia.ai can be used, which directly supports the LDS02RR and includes a sample sketch for ESP32. The measured data can then be sent to ROS2 for visualisation (RViz), SLAM, and navigation. A detailed guide including a wiring diagram can be found in the Maker's Pet tutorial.

Package contents:

• 1× 2D LiDAR module LDS02RR

Note:

• There is no official datasheet for the LDS02RR (it is a spare part); the stated parameters are based on community documentation.
• The product contains a laser – do not disassemble the module.
• This product is not a standalone functional unit and may require professional installation.
• Product images are for illustrative purposes only and may sometimes differ from the actual appearance of the item. However, this does not change their basic properties.